Update build and package configuration file.

[apps/agl-service-can-low-level.git] / CAN-binder / low-can-binding / utils / socketcan-bcm.cpp

diff --git a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
index 116b4c5..e16b246 100644 (file)
--- a/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
+++ b/CAN-binder/low-can-binding/utils/socketcan-bcm.cpp
@@ -19,18 +19,12 @@
 
 #include <net/if.h>
 #include <sys/ioctl.h>
+#include <fcntl.h>
+
+#include "../binding/application.hpp"
 
 namespace utils
 {
-       /// @brief Construct a default, invalid, socket.
-       socketcan_bcm_t::socketcan_bcm_t()
-               : socketcan_t{}
-       {}
-
-       /// @brief Destruct the socket.
-       socketcan_bcm_t::~socketcan_bcm_t()
-       {}
-
        /// @brief Connect the socket.
        /// @return 0 if success.
        int socketcan_bcm_t::connect(const struct sockaddr* addr, socklen_t len)
@@ -51,10 +45,10 @@ namespace utils
 
                // Attempts to open a socket to CAN bus
                ::strcpy(ifr.ifr_name, device_name.c_str());
-               DEBUG(binder_interface, "%s: ifr_name is : %s", __FUNCTION__, ifr.ifr_name);
+               DEBUG("BCM socket ifr_name is : %s", ifr.ifr_name);
                if(::ioctl(socket_, SIOCGIFINDEX, &ifr) < 0)
                {
-                       ERROR(binder_interface, "%s: ioctl failed. Error was : %s", __FUNCTION__, strerror(errno));
+                       ERROR("ioctl failed. Error was : %s", strerror(errno));
                        close();
                }
                else
@@ -64,10 +58,44 @@ namespace utils
 
                        if(connect((struct sockaddr *)&tx_address_, sizeof(tx_address_)) < 0)
                        {
-                               ERROR(binder_interface, "%s: Connect failed. %s", __FUNCTION__, strerror(errno));
+                               ERROR("Connect failed. %s", strerror(errno));
                                close();
                        }
+                       // Needed because of using systemD event loop. See sd_event_add_io manual.
+                       fcntl(socketcan_t::socket_, F_SETFL, O_NONBLOCK);
                }
                return socket_;
        }
+
+       /// Read the socket to retrieve the associated CAN message. All the hard work is do into
+       /// convert_from_frame method and if there isn't CAN message retrieve, only BCM head struct,
+       /// then CAN message will be zeroed and must be handled later.
+       socketcan_bcm_t& operator>>(socketcan_bcm_t& s, can_message_t& cm)
+       {
+               struct utils::simple_bcm_msg msg;
+
+               ::memset(&msg, 0, sizeof(msg));
+               const struct sockaddr_can& addr = s.get_tx_address();
+               socklen_t addrlen = sizeof(addr);
+               struct ifreq ifr;
+
+               ssize_t nbytes = ::recvfrom(s.socket(), &msg, sizeof(msg), 0, (struct sockaddr*)&addr, &addrlen);
+               ifr.ifr_ifindex = addr.can_ifindex;
+               ioctl(s.socket(), SIOCGIFNAME, &ifr);
+               long unsigned int frame_size = nbytes-sizeof(struct bcm_msg_head);
+
+               DEBUG("Data available: %li bytes read. BCM head, opcode: %i, can_id: %i, nframes: %i", frame_size, msg.msg_head.opcode, msg.msg_head.can_id, msg.msg_head.nframes);
+               DEBUG("read: Found on bus %s:\n id: %X, length: %X, data %02X%02X%02X%02X%02X%02X%02X%02X", ifr.ifr_name, msg.msg_head.can_id, msg.frames.can_dlc,
+                       msg.frames.data[0], msg.frames.data[1], msg.frames.data[2], msg.frames.data[3], msg.frames.data[4], msg.frames.data[5], msg.frames.data[6], msg.frames.data[7]);
+
+               struct timeval tv;
+               ioctl(s.socket(), SIOCGSTAMP, &tv);
+               uint64_t timestamp = 1000000 * tv.tv_sec + tv.tv_usec;
+               cm = ::can_message_t::convert_from_frame(msg.frames ,
+                               frame_size,
+                               timestamp);
+               cm.set_sub_id((int)s.socket());
+
+               return s;
+       }
 }
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